Emerson 0471-0128-02 manual TxPDO mappings, RxPDO mapping

Table 6.10 RxPDO mapping 22

0x1615	Receive PDO mapping 22
Sub-index 0: Number of mapped objects
Access: RW		Range: 0 to (CF)	Size: 1 byte	Unit: N/A
Default:	0
Description:	The number of mapped objects in thie PDO
Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.
Access: RW		Range: 0 to 0xFFFFFFFF	Size: 4 bytes	Unit: N/A
Default:	0
Description:	A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length of 32 or 0x20.

Bits 8 to 15: Sub-index of the mapped object.

Bits 16 to 31: Index of the mapped object.

6.1.3TxPDO mappings

Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO mappings. The following mappings from DSP-402 are included as standard:

Table 6.11 TxPDO mappings

PDO number	Mapping object index	Mapping object name
1	0x6041	statusword
2	0x6041	statusword
	0x6061	modes_of_operation_display
3	0x6041	statusword
	0x6064	position_actual_value
6	0x6041	statusword
	0x6044	vl_velocity_actual_value

The PDO mapping objects are defined below. Each mapping object has the maximum number of sub-indices (each representing an object mapped to a PDO) defined in the XML configuration file.

Table 6.12 TxPDO mapping 1

0x1A00	Transmit PDO mapping 1
Sub-index 0: Number of mapped objects
Access: RW		Range: 0 to (CF)	Size: 1 byte	Unit: N/A
Default:	1
Description:	The number of mapped objects in thie PDO
Sub-index 1: 1st mapped object
Access: RW		Range: 0 to 0xFFFFFFFF	Size: 4 bytes	Unit: N/A
Default:	0x60410010	- the DSP-402 status word	(0x6041)
Description:	A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length of 32 or 0x20.

Bits 8 to 15: Sub-index of the mapped object.

Bits 16 to 31: Index of the mapped object.

Information	Safety
Introduction
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Getting Started
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support	Drive profile (DSP-402)
features	Advanced
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SM-EtherCAT User Guide	23
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